version: 66.07.10.p01
glider: 573
mission: 12
dive: 135
start: 8 24 115 8 9 14
data:
$ID,573
$MISSION,12
$DIVE,135
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21426.391
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,134
$GPS1,240815,080157,-4504.046,636.496,43,0.8,43,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-69.0
$GPS2,240815,080853,-4504.084,636.521,15,0.8,16,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,294.9,16379,-17.9,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.76,-116.8,0.0,0.0,0,51,0.00,0.00,-25.88,0.000,2,0.000,0.000,62,2059,1660,0,0,0,0,0,0
$GC,54,-0.76,-116.8,3.3,-2.8,4,105,11.93,2.30,-33.17,0.000,4,0.251,0.073,2925,3471,2423,0,0,0,0,0,0
$GC,217,-0.65,-116.8,15.7,-11.9,30,225,0.12,2.22,0.00,0.000,6,0.158,0.043,2964,2075,2425,0,0,0,0,0,0
$GC,276,-0.65,-116.8,22.4,-11.5,39,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2074,2426,0,0,0,0,0,0
$GC,431,-0.62,-116.8,39.4,-10.5,64,438,0.08,0.00,0.00,0.000,6,0.208,0.000,2981,2075,2426,0,0,0,0,0,0
$GC,577,-0.62,-116.8,54.2,-10.2,89,582,0.00,2.25,0.00,0.000,4,0.000,0.054,2982,654,2426,0,0,0,0,0,0
$GC,627,-0.62,-116.8,59.7,-11.0,98,633,0.00,2.22,0.00,0.000,6,0.000,0.043,2972,2065,2426,0,0,0,0,0,0
$GC,975,-0.62,-116.8,97.8,-11.0,159,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2065,2426,0,0,0,0,0,0
$GC,1307,-0.62,-116.8,135.0,-10.9,192,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2065,2426,0,0,0,0,0,0
$GC,1626,-0.62,-116.8,169.3,-10.3,222,1630,0.00,2.25,0.00,0.000,4,0.000,0.063,2962,3469,2426,0,0,0,0,0,0
$GC,1712,-0.62,-116.8,177.6,-9.1,229,1717,0.08,2.17,0.00,0.000,6,0.190,0.040,2979,2053,2426,0,0,0,0,0,0
$GC,2037,-0.65,-116.8,203.4,-7.4,259,2041,0.00,2.20,0.00,0.000,4,0.000,0.053,2979,654,2426,0,0,0,0,0,0
$GC,2070,-0.65,-116.8,206.1,-8.2,261,2076,0.00,2.22,0.00,0.000,6,0.000,0.042,2970,2064,2427,0,0,0,0,0,0
$GC,2395,-0.65,-116.8,231.4,-7.5,292,2399,0.00,2.25,0.00,0.000,4,0.000,0.063,2960,3473,2426,0,0,0,0,0,0
$GC,2429,-0.65,-116.8,234.4,-8.3,294,2434,0.00,2.17,0.00,0.000,6,0.000,0.041,2960,2056,2427,0,0,0,0,0,0
$GC,2756,-0.65,-116.8,262.4,-9.3,325,2760,0.00,2.20,0.00,0.000,4,0.000,0.054,2960,661,2427,0,0,0,0,0,0
$GC,2809,-0.61,-116.8,267.4,-9.4,329,2813,0.12,2.17,0.00,0.000,6,0.176,0.041,2984,2066,2427,0,0,0,0,0,0
$GC,3138,-0.65,-116.8,296.1,-9.0,360,3142,0.00,2.22,0.00,0.000,4,0.000,0.063,2973,3462,2427,0,0,0,0,0,0
$GC,3216,-0.69,-116.8,303.1,-8.6,366,3222,0.00,2.17,0.00,0.000,6,0.000,0.038,2973,2053,2427,0,0,0,0,0,0
$GC,3543,-0.69,-116.8,331.2,-8.7,397,3547,0.00,2.20,0.00,0.000,4,0.000,0.054,2973,654,2427,0,0,0,0,0,0
$GC,3583,-0.69,-116.8,334.9,-9.1,400,3587,0.00,2.20,0.00,0.000,6,0.000,0.042,2965,2068,2427,0,0,0,0,0,0
$GC,3907,-0.69,-116.8,362.4,-8.1,430,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2067,2427,0,0,0,0,0,0
$GC,4226,-0.69,-116.8,388.9,-8.5,460,4230,0.00,2.20,0.00,0.000,4,0.000,0.060,2954,3463,2427,0,0,0,0,0,0
$GC,4292,-0.69,-116.8,394.6,-8.9,465,4296,0.00,2.15,0.00,0.000,6,0.000,0.040,2955,2059,2427,0,0,0,0,0,0
$GC,4619,-0.69,-116.8,426.4,-9.7,483,4623,0.00,2.22,0.00,0.000,4,0.000,0.056,2955,651,2427,0,0,0,0,0,0
$GC,4685,-0.65,-116.8,433.3,-10.5,486,4690,0.08,2.22,0.00,0.000,6,0.147,0.042,2970,2061,2427,0,0,0,0,0,0
$GC,5011,-0.65,-116.8,463.8,-9.5,502,5015,0.00,2.25,0.00,0.000,4,0.000,0.063,2960,3475,2427,0,0,0,0,0,0
$GC,5051,-0.65,-116.8,467.6,-9.9,504,5055,0.00,2.17,0.00,0.000,6,0.000,0.041,2960,2061,2427,0,0,0,0,0,0
$GC,5377,-0.65,-116.8,499.3,-9.7,520,5381,0.00,2.22,0.00,0.000,4,0.000,0.054,2960,648,2427,0,0,0,0,0,0
$GC,5408,-0.65,-116.8,502.7,-10.0,521,5416,0.05,2.22,0.00,0.000,6,0.160,0.041,2968,2066,2427,0,0,0,0,0,0
$GC,5725,-0.65,-116.8,529.4,-7.7,537,5729,0.00,2.22,0.00,0.000,4,0.000,0.062,2958,3465,2427,0,0,0,0,0,0
$GC,5758,-0.65,-116.8,531.9,-8.1,538,5763,0.00,2.17,0.00,0.000,6,0.000,0.038,2958,2061,2427,0,0,0,0,0,0
$GC,6074,-0.65,-116.8,554.5,-6.9,554,6076,0.05,0.00,0.00,0.000,6,0.225,0.000,2969,2061,2427,0,0,0,0,0,0
$GC,6383,-0.65,-116.8,574.6,-6.6,569,6387,0.00,2.20,0.00,0.000,4,0.000,0.054,2970,651,2426,0,0,0,0,0,0
$GC,6409,-0.65,-116.8,576.7,-7.8,570,6414,0.00,2.22,0.00,0.000,6,0.000,0.041,2961,2067,2426,0,0,0,0,0,0
$GC,6731,-0.65,-116.8,601.2,-7.9,586,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2067,2426,0,0,0,0,0,0
$GC,7040,-0.65,-116.8,626.2,-8.0,601,7044,0.00,2.22,0.00,0.000,4,0.000,0.062,2950,3469,2425,0,0,0,0,0,0
$GC,7080,-0.65,-116.8,629.6,-8.2,603,7085,0.10,2.17,0.00,0.000,6,0.177,0.040,2975,2048,2425,0,0,0,0,0,0
$GC,7409,-0.70,-116.8,653.1,-6.6,619,7411,0.03,0.00,0.00,0.000,6,0.246,0.000,2943,2048,2425,0,0,0,0,0,0
$GC,7716,-0.70,-116.8,678.2,-8.4,634,7720,0.00,2.20,0.00,0.000,4,0.000,0.054,2942,651,2425,0,0,0,0,0,0
$GC,7742,-0.66,-116.8,680.8,-9.3,635,7747,0.10,2.22,0.00,0.000,6,0.145,0.041,2966,2063,2425,0,0,0,0,0,0
$GC,8064,-0.69,-116.8,706.5,-8.2,651,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2063,2425,0,0,0,0,0,0
$GC,8373,-0.73,-116.8,732.8,-8.5,666,8377,0.00,2.25,0.00,0.000,4,0.000,0.064,2956,3472,2425,0,0,0,0,0,0
$GC,8413,-0.76,-116.8,736.2,-8.5,668,8417,0.00,2.17,0.00,0.000,6,0.000,0.041,2956,2053,2424,0,0,0,0,0,0
$GC,8739,-0.76,-116.8,764.8,-8.7,684,8743,0.00,2.20,0.00,0.000,4,0.000,0.054,2956,657,2425,0,0,0,0,0,0
$GC,8815,-0.76,-116.8,772.1,-9.4,687,8821,0.00,2.20,0.00,0.000,6,0.000,0.042,2947,2054,2424,0,0,0,0,0,0
$GC,9132,-0.76,-116.8,799.0,-8.2,703,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2054,2424,0,0,0,0,0,0
$GC,9441,-0.76,-116.8,822.5,-7.3,718,9445,0.00,2.22,0.00,0.000,4,0.000,0.060,2937,3463,2424,0,0,0,0,0,0
$GC,9484,-0.76,-116.8,826.1,-7.9,720,9489,0.00,2.17,0.00,0.000,6,0.000,0.039,2937,2062,2424,0,0,0,0,0,0
$GC,9812,-0.76,-116.8,851.5,-7.7,736,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2062,2424,0,0,0,0,0,0
$GC,10121,-0.76,-116.8,874.4,-7.1,751,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2062,2424,0,0,0,0,0,0
$GC,10431,-0.76,-116.8,895.7,-6.7,766,10435,0.00,2.20,0.00,0.000,4,0.000,0.054,2937,651,2424,0,0,0,0,0,0
$GC,10486,-0.71,-116.8,900.1,-7.4,768,10492,0.05,2.20,0.00,0.000,6,0.155,0.041,2946,2053,2424,0,0,0,0,0,0
$GC,10802,-0.71,-116.8,920.6,-6.7,784,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2053,2424,0,0,0,0,0,0
$GC,11111,-0.71,-116.8,942.9,-7.4,799,11115,0.00,2.25,0.00,0.000,4,0.000,0.060,2935,3475,2423,0,0,0,0,0,0
$GC,11159,-0.71,-116.8,947.1,-9.0,801,11165,0.03,2.20,0.00,0.000,6,0.181,0.041,2946,2054,2423,0,0,0,0,0,0
$GC,11481,-0.71,-116.8,973.1,-8.3,817,11485,0.00,2.20,0.00,0.000,4,0.000,0.055,2946,660,2423,0,0,0,0,0,0
$GC,11529,-0.71,-116.8,977.7,-9.8,819,11534,0.00,2.20,0.00,0.000,6,0.000,0.040,2937,2060,2423,0,0,0,0,0,0
$STATE,11808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11809,begin apogee
$GC,11813,-0.19,0.0,1001.4,8.4,833,11922,0.57,0.00,105.57,1.294,6,0.143,0.000,3116,1592,1950,0,0,0,0,0,0
$STATE,11923,end apogee,CONTROL_FINISHED_OK
$STATE,11923,begin climb
$GC,11924,0.76,116.8,1004.7,0.0,838,12047,0.93,2.47,111.18,1.255,4,0.091,0.054,3433,208,1472,0,0,0,0,0,0
$GC,12108,0.72,116.8,992.5,9.2,846,12115,0.03,2.35,0.00,0.000,6,0.158,0.034,3423,1604,1468,0,0,0,0,0,0
$GC,12424,0.72,116.8,963.9,9.0,862,12428,0.00,2.28,0.00,0.000,4,0.000,0.052,3424,2993,1464,0,0,0,0,0,0
$GC,12485,0.72,116.8,957.9,10.1,865,12489,0.00,2.20,0.00,0.000,6,0.000,0.035,3432,1604,1464,0,0,0,0,0,0
$GC,12811,0.72,116.8,928.0,9.0,881,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1604,1463,0,0,0,0,0,0
$GC,13121,0.72,118.2,901.0,8.5,896,13125,0.00,2.28,0.00,0.000,4,0.000,0.053,3442,198,1462,0,0,0,0,0,0
$GC,13192,0.68,118.2,894.3,9.6,899,13197,0.10,2.22,0.00,0.000,6,0.133,0.035,3408,1607,1461,0,0,0,0,0,0
$GC,13515,0.72,137.0,869.8,7.6,915,13540,0.00,2.28,18.25,1.149,4,0.000,0.052,3408,2988,1391,0,0,0,0,0,0
$GC,13589,0.72,137.0,863.4,8.8,918,13595,0.00,2.20,0.00,0.000,6,0.000,0.035,3416,1606,1389,0,0,0,0,0,0
$GC,13912,0.76,146.0,838.0,8.1,934,13927,0.00,2.33,9.90,1.040,4,0.000,0.054,3427,189,1354,0,0,0,0,0,0
$GC,13953,0.76,146.0,834.5,8.8,935,13958,0.00,2.25,0.00,0.000,6,0.000,0.034,3427,1598,1353,0,0,0,0,0,0
$GC,14281,0.76,149.3,806.9,8.4,951,14291,0.00,2.28,4.30,0.735,4,0.000,0.054,3427,2990,1341,0,0,0,0,0,0
$GC,14325,0.76,149.3,802.8,9.7,953,14329,0.00,2.17,0.00,0.000,6,0.000,0.035,3436,1594,1341,0,0,0,0,0,0
$GC,14651,0.76,149.3,773.8,9.0,969,14655,0.00,2.25,0.00,0.000,4,0.000,0.054,3447,196,1340,0,0,0,0,0,0
$GC,14721,0.76,149.3,766.5,10.5,972,14727,0.03,2.22,0.00,0.000,6,0.167,0.035,3437,1605,1339,0,0,0,0,0,0
$GC,15044,0.76,149.3,735.9,9.4,988,15048,0.00,2.17,0.00,0.000,4,0.000,0.052,3437,2992,1339,0,0,0,0,0,0
$GC,15110,0.76,149.3,728.7,10.1,991,15115,0.03,2.17,0.00,0.000,6,0.180,0.034,3436,1597,1339,0,0,0,0,0,0
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$STATE,22779,end climb,SURFACE_DEPTH_REACHED
$STATE,22779,begin surface coast
$FINISH,1.7,1.012380
$STATE,22811,end surface coast,CONTROL_FINISHED_OK
$STATE,22811,begin surface
$SM_CCo,22827,6.90,0.057,0,0,1133,200.16
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$TT8_MAMPS,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.3,19.937
$10V_AH,10.1,19.228
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.925,213.300,285.300,6.900,0.000,24.274,20.006,253.812,0.000,0.000,18.996,4079.379,14404.816,449.808,4107.138,205.279,0.000,2007.316,0.000,3575.433,0.000,0.540,0.000
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$MEM,353140
$DATA_FILE_SIZE,113669,1632
$CAP_FILE_SIZE,223469,0
$CFSIZE,2097086464,2074345472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240815,143103,-4506.283,634.029,41,1.0,41,-24.4